Optimal control design for furuta's pendulum

In this article, we discuss the design of a controller for the Furuta pendulum, which is a subactuated, nonlinear and highly unstable system, which makes it a scientific and technological challenge. This system is often used in the domain of control theory as it helps to understand concepts of contr...

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Main Authors:	Mérida Rubio, Jován Oseas, Chávez Vázquez, Paul Alejandro, Coria de los Ríos, Luis Nestor, Chávez Guzmán, Carlos Alberto
Format:	info:eu-repo/semantics/article
Language:	spa
Published:	Universidad Autónoma de Baja California 2020
Subjects:	Optimal Control Furuta Pendulum Subactuated Systems Electronic and Instrumentation. Control Óptimo Péndulo de Furuta Sistema Subactuado Electrónica e Instrumentación.
Online Access:	https://recit.uabc.mx/index.php/revista/article/view/2oeyb2
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id	repositorioinstitucional-20.500.12930-7004
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spelling	repositorioinstitucional-20.500.12930-70042023-05-09T14:35:08Z Optimal control design for furuta's pendulum Diseño de control óptimo para el péndulo de furuta Mérida Rubio, Jován Oseas Chávez Vázquez, Paul Alejandro Coria de los Ríos, Luis Nestor Chávez Guzmán, Carlos Alberto Optimal Control Furuta Pendulum Subactuated Systems Electronic and Instrumentation. Control Óptimo Péndulo de Furuta Sistema Subactuado Electrónica e Instrumentación. In this article, we discuss the design of a controller for the Furuta pendulum, which is a subactuated, nonlinear and highly unstable system, which makes it a scientific and technological challenge. This system is often used in the domain of control theory as it helps to understand concepts of control mechanisms. The dynamics of the Furuta pendulum can be found in several high-profile physical systems, such as: two-wheel robots, Segway, personal transporters, rocket propellers, flight controls, etc. The objective is to solve the stabilization problem in the unstable inverted position of the pendulum using an optimal controller, making use of the dynamic model of a pendulum manufactured by Quanser©. A linear quadratic regulator was designed, such that the undisturbed system is stable around the unstable inverted position, while the input signal energy is appropriate. The existence of the solutions of Riccati's algebraic equation assures stabilization and detectability of the system and implies that the closed-loop system is stable. The results show that the controller satisfies the design requirements of the system. En este artículo se aborda el diseño de un controlador para el péndulo de Furuta, que es un sistema subactuado, no lineal y altamente inestable, lo cual lo hace un reto tanto científico, como tecnológico. Este sistema es a menudo utilizado en el dominio de la teoría de control ya que ayuda entender conceptos de control de mecanismos. Las dinámicas que presenta el péndulo de Furuta pueden ser encontradas en diversos sistemas físicos de alta relevancia, tales como: robots de dos llantas, transportadores personales Segway, propulsores de cohetes, controles de vuelo, etc. El objetivo es resolver el problema de estabilización en la posición invertida inestable del péndulo mediante un controlador óptimo, haciendo uso del modelo dinámico del péndulo fabricado por Quanser©. Un regulador óptimo cuadrático fue diseñado, tal que, el sistema no perturbado es estable alrededor de la posición invertida inestable, mientras que la energía de la señal de entrada es apropiada. La existencia de las soluciones propias de la ecuación algebraica de Riccati aseguran estabilizabilidad y detectabilidad del sistema y estás implican que el sistema en lazo cerrado es estable. Los resultados muestran que el controlador cumple satisfactoriamente los requerimientos de diseño del sistema. 2020-08-16 2021-06-03T03:52:30Z 2021-06-03T03:52:30Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Research article Articulo de Investigación https://recit.uabc.mx/index.php/revista/article/view/2oeyb2 10.37636/recit.v124953 https://hdl.handle.net/20.500.12930/7004 spa https://recit.uabc.mx/index.php/revista/article/view/2oeyb2/49-53 https://recit.uabc.mx/index.php/revista/article/view/2oeyb2/html https://recit.uabc.mx/index.php/revista/article/view/2oeyb2/OEyB2 Copyright (c) 2018 Jován Oseas Mérida Rubio, Paul Alejandro Chávez Vázquez, Luis Nestor Coria de los Ríos, Carlos Alberto Chávez Guzmán http://creativecommons.org/licenses/by/4.0 application/pdf text/html application/xml Universidad Autónoma de Baja California REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 1 No. 2 (2018); 49-53 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 1 Núm. 2 (2018); 49-53 2594-1925
institution	Repositorio Institucional
collection	DSpace
language	spa
topic	Optimal Control Furuta Pendulum Subactuated Systems Electronic and Instrumentation. Control Óptimo Péndulo de Furuta Sistema Subactuado Electrónica e Instrumentación.
spellingShingle	Optimal Control Furuta Pendulum Subactuated Systems Electronic and Instrumentation. Control Óptimo Péndulo de Furuta Sistema Subactuado Electrónica e Instrumentación. Mérida Rubio, Jován Oseas Chávez Vázquez, Paul Alejandro Coria de los Ríos, Luis Nestor Chávez Guzmán, Carlos Alberto Optimal control design for furuta's pendulum
description	In this article, we discuss the design of a controller for the Furuta pendulum, which is a subactuated, nonlinear and highly unstable system, which makes it a scientific and technological challenge. This system is often used in the domain of control theory as it helps to understand concepts of control mechanisms. The dynamics of the Furuta pendulum can be found in several high-profile physical systems, such as: two-wheel robots, Segway, personal transporters, rocket propellers, flight controls, etc. The objective is to solve the stabilization problem in the unstable inverted position of the pendulum using an optimal controller, making use of the dynamic model of a pendulum manufactured by Quanser©. A linear quadratic regulator was designed, such that the undisturbed system is stable around the unstable inverted position, while the input signal energy is appropriate. The existence of the solutions of Riccati's algebraic equation assures stabilization and detectability of the system and implies that the closed-loop system is stable. The results show that the controller satisfies the design requirements of the system.
format	info:eu-repo/semantics/article
author	Mérida Rubio, Jován Oseas Chávez Vázquez, Paul Alejandro Coria de los Ríos, Luis Nestor Chávez Guzmán, Carlos Alberto
author_facet	Mérida Rubio, Jován Oseas Chávez Vázquez, Paul Alejandro Coria de los Ríos, Luis Nestor Chávez Guzmán, Carlos Alberto
author_sort	Mérida Rubio, Jován Oseas
title	Optimal control design for furuta's pendulum
title_short	Optimal control design for furuta's pendulum
title_full	Optimal control design for furuta's pendulum
title_fullStr	Optimal control design for furuta's pendulum
title_full_unstemmed	Optimal control design for furuta's pendulum
title_sort	optimal control design for furuta's pendulum
publisher	Universidad Autónoma de Baja California
publishDate	2020
url	https://recit.uabc.mx/index.php/revista/article/view/2oeyb2
_version_	1792609716444069888

Optimal control design for furuta's pendulum

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